// iKalibr: Unified Targetless Spatiotemporal Calibration Framework
// Copyright 2024, the School of Geodesy and Geomatics (SGG), Wuhan University, China
// https://github.com/Unsigned-Long/iKalibr.git
//
// Author: Shuolong Chen (shlchen@whu.edu.cn)
// GitHub: https://github.com/Unsigned-Long
//  ORCID: 0000-0002-5283-9057
//
// Purpose: See .h/.hpp file.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
// * The names of its contributors can not be
//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#ifndef IKALIBR_TIME_DERIV_HPP
#define IKALIBR_TIME_DERIV_HPP

#include "util/utils.h"

namespace {
bool IKALIBR_UNIQUE_NAME(_2_) = ns_ikalibr::_1_(__FILE__);
}

namespace ns_ikalibr {

struct TimeDeriv {
    enum ScaleSplineType : int { LIN_ACCE_SPLINE = 0, LIN_VEL_SPLINE = 1, LIN_POS_SPLINE = 2 };

    enum ScaleType : int {
        LIN_ACCE = 0,
        LIN_VEL = -1,
        LIN_POS = -2,
    };

    template <ScaleSplineType spType, ScaleType sType>
    static constexpr int Deriv() {
        // compute how many times to perform time derivation to obtain "sType" from "spType"
        return spType + sType;
    }
};
}  // namespace ns_ikalibr

#endif  // IKALIBR_TIME_DERIV_HPP
